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Eliminate mechanical Hysteresis / backlash #7

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JamesNewton opened this issue Jul 28, 2018 · 1 comment
Open

Eliminate mechanical Hysteresis / backlash #7

JamesNewton opened this issue Jul 28, 2018 · 1 comment
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Hardware Issues relating to the physical hardware.

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@JamesNewton
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Although the ultra precise encoder system used in each joint removes all backlash during operation, mechanical issues during calibration of the encoder disks can remain, causing slightly uneven motion and minor non-linearity in positioning.

We have assumed this is caused by the belts so perhaps we need to go back to Kevlar belts? Dual belts?

But it may be caused by the harmonic drives when they are exposed to side loads. The Cycloidal Drive ( see #6 ) may remove this issue.

Or perhaps the Motors shifting because the screws aren't exactly the right size?
@JamesNewton JamesNewton added the Hardware Issues relating to the physical hardware. label Jul 28, 2018
@JamesNewton JamesNewton mentioned this issue Jul 28, 2018
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Kamino cloned this issue to HaddingtonDynamics/OCADO

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